#ifndef __ROUTINE_H
#define __ROUTINE_H

#ifdef __cplusplus
extern "C" {
#endif

#include "motor.h"
#include "main.h"

#define wheel_diameter 5.0f
#define wheel_spacing 10.0f
#define base_speed 100

#define MOTORA 1
#define MOTORB 2

#define TURN_LEFT 1
#define TURN_RIGHT 2

/* 基本运动函数 */
void Move_Straight(float distance);  // distance in cm
void Move_Arc(float radius, float angle, uint8_t direction);  // radius in cm, angle in degrees (1-360)

/* 组合运动函数 */
void Start_Routine(void);

#ifdef __cplusplus
}
#endif

#endif /* __ROUTINE_H */
